I want to pull a part with certain force using iiwa LBR robot, and the motion should be canceled automatically as the force of x direction over a certain value, such as 20N.
the code is as follows:
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CartesianImpedanceControlMode cartImpCtrlMode = new CartesianImpedanceControlMode();
cartImpCtrlMode.parametrize(CartDOF.X).setStiffness(4000.0);
cartImpCtrlMode.parametrize(CartDOF.Y).setStiffness(4000.0);
cartImpCtrlMode.parametrize(CartDOF.Z).setStiffness(4000.0);
cartImpCtrlMode.parametrize(CartDOF.ROT).setStiffness(300.0);
cartImpCtrlMode.parametrize(CartDOF.ALL).setDamping(0.7);
cartImpCtrlMode.setMaxControlForce(20, 100, 100, 5, 5, 5, true);
lbr_iiwa_14_R820_1.move(lin(getApplicationData().getFrame("/PullP2")).setCartVelocity(150).setMode(cartImpCtrlMode));
When it is executed, I give the TCP of flange force over 20N. But the motion can not be canceled automatically.
Could anybody tell me the reason? thank you very much.